1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2014/04/29
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6 | // filename: UavStateMachine.h
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7 | //
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8 | // author: Gildas Bayard, Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: state machine for UAV
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | #ifndef UAVSTATEMACHINE_H
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19 | #define UAVSTATEMACHINE_H
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20 |
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21 | #include <Thread.h>
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22 | #include <Vector2D.h>
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23 | #include <Vector3D.h>
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24 | #include <Euler.h>
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25 | #include <Quaternion.h>
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26 |
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27 | namespace flair {
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28 | namespace core {
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29 | class FrameworkManager;
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30 | class AhrsData;
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31 | class io_data;
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32 | }
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33 | namespace gui {
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34 | class PushButton;
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35 | class GridLayout;
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36 | class Tab;
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37 | class DoubleSpinBox;
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38 | }
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39 | namespace filter {
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40 | class ControlLaw;
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41 | class NestedSat;
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42 | class Pid;
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43 | class PidThrust;
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44 | class TrajectoryGenerator1D;
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45 | }
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46 | namespace sensor {
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47 | class TargetController;
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48 | }
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49 | namespace meta {
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50 | class MetaDualShock3;
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51 | class Uav;
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52 | }
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53 | }
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54 |
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55 | namespace flair {
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56 | namespace meta {
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57 |
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58 | /*! \class UavStateMachine
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59 | *
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60 | * \brief State machine for UAV
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61 | *
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62 | * thread synchronized with ahrs, unless a period is set with SetPeriodUS or
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63 | *SetPeriodMS
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64 | */
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65 |
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66 | class UavStateMachine : public core::Thread {
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67 | protected:
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68 | enum class AltitudeMode_t { Manual, Custom };
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69 | const AltitudeMode_t &GetAltitudeMode(void) const { return altitudeMode; }
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70 | bool SetAltitudeMode(const AltitudeMode_t &altitudeMode);
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71 |
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72 | // uses TrajectoryGenerator1D *altitudeTrajectory to go to desiredAltitude
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73 | // available in mode AltitudeMode_t::Manual
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74 | // return true if goto is possible
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75 | bool GotoAltitude(float desiredAltitude);
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76 |
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77 | enum class OrientationMode_t { Manual, Custom };
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78 | const OrientationMode_t &GetOrientationMode(void) const {
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79 | return orientationMode;
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80 | }
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81 | bool SetOrientationMode(const OrientationMode_t &orientationMode);
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82 |
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83 | enum class ThrustMode_t { Default, Custom };
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84 | const ThrustMode_t &GetThrustMode() const { return thrustMode; }
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85 | bool SetThrustMode(const ThrustMode_t &thrustMode);
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86 |
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87 | enum class TorqueMode_t { Default, Custom };
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88 | const TorqueMode_t &GetTorqueMode(void) const { return torqueMode; }
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89 | bool SetTorqueMode(const TorqueMode_t &torqueMode);
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90 |
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91 | enum class Event_t {
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92 | EnteringFailSafeMode,
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93 | EnteringControlLoop,
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94 | StartLanding,
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95 | FinishLanding,
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96 | Stopped,
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97 | TakingOff,
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98 | EmergencyStop,
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99 | Stabilized, // as soon as uav is 3cm far from the ground
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100 | ZTrajectoryFinished,
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101 | };
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102 |
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103 | UavStateMachine(meta::Uav* uav, sensor::TargetController* controller);
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104 | ~UavStateMachine();
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105 |
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106 | const core::Quaternion &GetCurrentQuaternion(void) const;
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107 |
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108 | const core::Vector3D &GetCurrentAngularSpeed(void) const;
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109 |
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110 | const meta::Uav *GetUav(void) const;
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111 |
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112 | void Land(void);
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113 | void EmergencyLand(void);
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114 | void TakeOff(void);
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115 | void EmergencyStop(void);
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116 | //! Used to signal an event
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117 | /*!
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118 | \param event the event which occured
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119 | */
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120 | virtual void SignalEvent(Event_t event);
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121 |
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122 | virtual const core::AhrsData *GetOrientation(void) const;
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123 | const core::AhrsData *GetDefaultOrientation(void) const;
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124 |
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125 | virtual void AltitudeValues(float &z, float &dz) const; // in uav coordinate!
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126 | void EnterFailSafeMode(void);
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127 | bool ExitFailSafeMode(void);
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128 | void FailSafeAltitudeValues(float &z, float &dz) const; // in uav coordinate!
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129 |
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130 | gui::GridLayout *GetButtonsLayout(void) const;
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131 | virtual void ExtraSecurityCheck(void){};
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132 | virtual void ExtraCheckJoystick(void){};
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133 | virtual void ExtraCheckPushButton(void){};
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134 |
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135 | void GetDefaultReferenceAltitude(float &refAltitude,
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136 | float &refVerticalVelocity);
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137 | virtual void GetReferenceAltitude(float &refAltitude,
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138 | float &refVerticalVelocity);
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139 | // float GetDefaultThrustOffset(void);
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140 | const core::AhrsData *GetDefaultReferenceOrientation(void) const;
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141 | virtual const core::AhrsData *GetReferenceOrientation(void);
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142 |
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143 | /*!
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144 | * \brief Compute Custom Torques
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145 | *
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146 | * Reimplement this method to use TorqueMode_t::Custom. \n
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147 | * This method is called internally by UavStateMachine, do not call it by
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148 | *yourself. \n
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149 | * See GetTorques if you need torques values.
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150 | *
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151 | * \param torques custom torques
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152 | */
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153 | virtual void ComputeCustomTorques(core::Euler &torques);
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154 |
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155 | /*!
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156 | * \brief Compute Default Torques
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157 | *
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158 | * This method is called internally by UavStateMachine when using
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159 | *TorqueMode_t::Default. \n
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160 | * Torques are only computed once by loop, other calls to this method will use
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161 | *previously computed torques.
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162 | *
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163 | * \param torques default torques
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164 | */
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165 | void ComputeDefaultTorques(core::Euler &torques);
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166 |
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167 | /*!
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168 | * \brief Get Torques
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169 | *
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170 | * \return torques current torques
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171 | */
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172 | // const core::Euler &GetTorques() const;
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173 |
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174 | /*!
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175 | * \brief Compute Custom Thrust
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176 | *
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177 | * Reimplement this method to use ThrustMode_t::Custom. \n
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178 | * This method is called internally by UavStateMachine, do not call it by
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179 | *yourself. \n
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180 | * See GetThrust if you need thrust value.
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181 | *
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182 | * \return custom Thrust
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183 | */
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184 | virtual float ComputeCustomThrust(void);
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185 |
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186 | /*!
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187 | * \brief Compute Default Thrust
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188 | *
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189 | * This method is called internally by UavStateMachine when using
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190 | *ThrustMode_t::Default. \n
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191 | * Thrust is only computed once by loop, other calls to this method will use
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192 | *previously computed thrust.
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193 | *
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194 | * \return default thrust
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195 | */
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196 | float ComputeDefaultThrust(void);
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197 |
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198 | /*!
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199 | * \brief Get Thrust
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200 | *
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201 | * \return current thrust
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202 | */
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203 | // float GetThrust() const;
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204 |
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205 | /*!
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206 | * \brief Add an IODevice to the control law logs
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207 | *
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208 | * The IODevice will be automatically logged among the Uz logs,
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209 | * if logging is enabled (see IODevice::SetDataToLog,
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210 | *FrameworkManager::StartLog
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211 | * and FrameworkManager::AddDeviceToLog). \n
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212 | *
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213 | * \param device IODevice to log
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214 | */
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215 | void AddDeviceToControlLawLog(const core::IODevice *device);
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216 |
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217 | /*!
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218 | * \brief Add an io_data to the control law logs
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219 | *
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220 | * The io_data will be automatically logged among the Uz logs,
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221 | * if logging is enabled (see IODevice::SetDataToLog,
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222 | *FrameworkManager::StartLog
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223 | * and FrameworkManager::AddDeviceToLog). \n
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224 | *
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225 | * \param data io_data to log
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226 | */
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227 | void AddDataToControlLawLog(const core::io_data *data);
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228 |
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229 | const sensor::TargetController *GetJoystick(void) const;
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230 |
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231 | gui::Tab *setupLawTab, *graphLawTab;
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232 |
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233 | private:
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234 | /*!
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235 | \enum AltitudeState_t
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236 | \brief States of the altitude state machine
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237 | */
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238 | enum class AltitudeState_t {
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239 | Stopped, /*!< the uav motors are stopped */
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240 | TakingOff, /*!< take off initiated. Motors accelerate progressively until
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241 | the UAV lift up */
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242 | Stabilized, /*!< the uav is actively maintaining its altitude */
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243 | StartLanding, /*!< landing initiated. Altitude is required to reach the
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244 | landing altitude (0 by default) */
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245 | FinishLanding /*!< motors are gradually stopped */
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246 | };
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247 | AltitudeState_t altitudeState;
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248 | void ProcessAltitudeFiniteStateMachine();
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249 | void ComputeReferenceAltitude(float &refAltitude, float &refVerticalVelocity);
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250 |
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251 | float groundAltitude; // effective altitude when the uav leaves the ground
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252 | float currentAltitude, currentVerticalSpeed;
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253 |
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254 | bool failSafeMode;
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255 | void SecurityCheck(void);
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256 | void MandatorySecurityCheck(void);
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257 | void CheckJoystick();
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258 | void GenericCheckJoystick();
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259 | void CheckPushButton(void);
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260 | void GenericCheckPushButton(void);
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261 | void Run(void);
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262 | void StopMotors(void);
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263 |
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264 | meta::Uav *uav;
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265 | sensor::TargetController *controller;
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266 |
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267 | core::Quaternion currentQuaternion;
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268 | core::Vector3D currentAngularSpeed;
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269 |
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270 | const core::AhrsData *ComputeReferenceOrientation(void);
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271 |
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272 | void ComputeOrientation(void);
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273 | void ComputeAltitude(void);
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274 |
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275 | void ComputeTorques(void);
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276 | core::Euler currentTorques, savedDefaultTorques;
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277 | bool needToComputeDefaultTorques;
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278 |
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279 | void ComputeThrust(void);
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280 | float currentThrust, savedDefaultThrust;
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281 | bool needToComputeDefaultThrust;
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282 |
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283 | gui::PushButton *button_kill, *button_take_off, *button_land,
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284 | *button_start_log, *button_stop_log;
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285 | gui::GridLayout *buttonslayout;
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286 | gui::DoubleSpinBox *desiredTakeoffAltitude, *desiredLandingAltitude;
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287 | AltitudeMode_t altitudeMode;
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288 | OrientationMode_t orientationMode;
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289 | ThrustMode_t thrustMode;
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290 | TorqueMode_t torqueMode;
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291 | bool flagBatteryLow;
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292 | bool flagConnectionLost;
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293 | bool flagCriticalSensorLost;
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294 | bool flagZTrajectoryFinished;
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295 | bool safeToFly;
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296 | filter::NestedSat *uRoll, *uPitch;
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297 | filter::Pid *uYaw;
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298 | filter::PidThrust *uZ;
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299 |
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300 | MetaDualShock3 *joy;
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301 | filter::TrajectoryGenerator1D *altitudeTrajectory;
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302 | };
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303 | };
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304 | };
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305 | #endif // UAVSTATEMACHINE_H
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